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Anexo: 'S' 'Inputdelay' 'Companion'

This document defines transfer functions for six systems (h1 through h6) and combines them into a multi-input multi-output system (G). It then defines an alternative state space representation (H2) of the combined system and compares the transfer functions (G1 and G2) and eigenvalues. Finally, it discretizes the original combined system (Gd).

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Fabián Núñez L
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16 views1 page

Anexo: 'S' 'Inputdelay' 'Companion'

This document defines transfer functions for six systems (h1 through h6) and combines them into a multi-input multi-output system (G). It then defines an alternative state space representation (H2) of the combined system and compares the transfer functions (G1 and G2) and eigenvalues. Finally, it discretizes the original combined system (Gd).

Uploaded by

Fabián Núñez L
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
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ANEXO

s=tf('s');
h11=2.3/s
h22=-.7e-3/s
h33=.2/s
%% h1
G=4.7;
P=.2857;
T=9.3;
num=G;
den=[T 1];
h1=tf(num,den,'InputDelay',7)
Gc1 = canon(h1,'companion');
A=Gc1.A'
B=Gc1.C'
C=Gc1.B'
D=Gc1.D
%% h2
G=1.4e-3;
P=1;
T=6.8;
num=G;
den=[T 1];
h2=tf(num,den,'InputDelay',2)
Gc2 = canon(h2,'companion');
A=Gc2.A'
B=Gc2.C'
C=Gc2.B'
D=Gc2.D
%% h3
G=.4;
P=.6667;
T=11.6;
num=G;
den=[T 1];
h3=tf(num,den,'InputDelay',3)
Gc3 = canon(h3,'companion');
A=Gc3.A'
B=Gc3.C'
C=Gc3.B'
D=Gc3.D
%% h4
G=1.9;
P=2;
T=10.1;
num=G;
den=[T 1];
h4=tf(num,den,'InputDelay',1)
Gc4 = canon(h4,'companion');
A=Gc4.A'
B=Gc4.C'
C=Gc4.B'
D=Gc4.D
%% h5
G=61e-3;
P=.6667;

T=6.6;
num=G;
den=[T 1];
h5=tf(num,den,'InputDelay',3)
Gc5 = canon(h5,'companion');
A=Gc5.A'
B=Gc5.C'
C=Gc5.B'
D=Gc5.D
%% h6
G=.2;
P=.6667;
T=12.3;
num=G;
den=[T 1];
h6=tf(num,den,'InputDelay',3)
Gc6 = canon(h6,'companion');
A=Gc6.A'
B=Gc6.C'
C=Gc6.B'
D=Gc6.D
G=[h11 h22 h33; h1 h2 h3; h4 h5 h6];
[a,b,c,d]=ssdata(G);
A1=[0 0 0 0 0 0 0;
0 -.1075 0 0 0 0 0;
0 0 -.1471 0 0 0 0;
0 0 0 -.0862 0 0 0;
0 0 0 0 -.0990 0 0;
0 0 0 0 0 -.1515 0;
0 0 0 0 0 0 -.0813];
B1=[2.3 -.7e-3 .2;
.5054 0 0;
0 2.06e-4 0;
0 0 .0345;
.1881 0 0;
0 .0092 0;
0 0 .0163];
C1=[1 0 0 0 0 0 0;
0 1 1 1 0 0 0;
0 0 0 0 1 1 1];
syms s
H1=ss(a,b,c,d);
H2=ss(A1,B1,C1,0);
G2=C1*inv(s*eye(7)-A1)*B1;
G1=c*inv(s*eye(7)-a)*b;
s=tf('s');
G1=G1;
G2=G2;
Eig1=eig(a);
Eig2=eig(A1);
Gd=c2d(G,1,'zoh')
[a,b,c,d]=ssdata(Gd)

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